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AnimTestbed/3rdparty/ozz-animation/test/animation/runtime/ik_aim_job_tests.cc

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//----------------------------------------------------------------------------//
// //
// ozz-animation is hosted at http://github.com/guillaumeblanc/ozz-animation //
// and distributed under the MIT License (MIT). //
// //
// Copyright (c) Guillaume Blanc //
// //
// Permission is hereby granted, free of charge, to any person obtaining a //
// copy of this software and associated documentation files (the "Software"), //
// to deal in the Software without restriction, including without limitation //
// the rights to use, copy, modify, merge, publish, distribute, sublicense, //
// and/or sell copies of the Software, and to permit persons to whom the //
// Software is furnished to do so, subject to the following conditions: //
// //
// The above copyright notice and this permission notice shall be included in //
// all copies or substantial portions of the Software. //
// //
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR //
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, //
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL //
// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER //
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING //
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER //
// DEALINGS IN THE SOFTWARE. //
// //
//----------------------------------------------------------------------------//
#include "ozz/animation/runtime/ik_aim_job.h"
#include "ozz/base/maths/quaternion.h"
#include "ozz/base/maths/simd_math.h"
#include "ozz/base/maths/simd_quaternion.h"
#include "gtest/gtest.h"
#include "ozz/base/maths/gtest_math_helper.h"
TEST(JobValidity, IKAimJob) {
const ozz::math::Float4x4 joint = ozz::math::Float4x4::identity();
ozz::math::SimdQuaternion quat;
{ // Default is invalid
ozz::animation::IKAimJob job;
EXPECT_FALSE(job.Validate());
}
{ // Invalid joint matrix
ozz::animation::IKAimJob job;
job.joint = &joint;
EXPECT_FALSE(job.Validate());
}
{ // Invalid output
ozz::animation::IKAimJob job;
job.joint_correction = &quat;
EXPECT_FALSE(job.Validate());
}
{ // Invalid non normalized forward vector.
ozz::animation::IKAimJob job;
job.forward = ozz::math::simd_float4::Load(.5f, 0.f, 0.f, 0.f);
EXPECT_FALSE(job.Validate());
}
{ // Valid
ozz::animation::IKAimJob job;
job.joint = &joint;
job.joint_correction = &quat;
EXPECT_TRUE(job.Validate());
EXPECT_TRUE(job.Run());
}
}
TEST(Correction, IKAimJob) {
ozz::math::SimdQuaternion quat;
ozz::animation::IKAimJob job;
job.joint_correction = &quat;
// Test will be executed with different root transformations
const ozz::math::Float4x4 parents[] = {
ozz::math::Float4x4::identity(), // No root transformation
ozz::math::Float4x4::Translation(ozz::math::simd_float4::y_axis()), // Up
ozz::math::Float4x4::FromEuler(ozz::math::simd_float4::Load(
ozz::math::kPi / 3.f, 0.f, 0.f, 0.f)), // Rotated
ozz::math::Float4x4::Scaling(ozz::math::simd_float4::Load(
2.f, 2.f, 2.f, 0.f)), // Uniformly scaled
ozz::math::Float4x4::Scaling(ozz::math::simd_float4::Load(
1.f, 2.f, 1.f, 0.f)), // Non-uniformly scaled
ozz::math::Float4x4::Scaling(
ozz::math::simd_float4::Load(-3.f, -3.f, -3.f, 0.f)) // Mirrored
};
for (size_t i = 0; i < OZZ_ARRAY_SIZE(parents); ++i) {
const ozz::math::Float4x4& parent = parents[i];
job.joint = &parent;
// These are in joint local-space
job.forward = ozz::math::simd_float4::x_axis();
job.up = ozz::math::simd_float4::y_axis();
// Pole vector is in model space
job.pole_vector = TransformVector(parent, ozz::math::simd_float4::y_axis());
{ // x
job.target = TransformPoint(parent, ozz::math::simd_float4::x_axis());
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
}
{ // -x
job.target = TransformPoint(parent, -ozz::math::simd_float4::x_axis());
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion y_Pi = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::y_axis(), ozz::math::kPi);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, y_Pi.x, y_Pi.y, y_Pi.z, y_Pi.w, 2e-3f);
}
{ // z
job.target = TransformPoint(parent, ozz::math::simd_float4::z_axis());
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion y_mPi_2 =
ozz::math::Quaternion::FromAxisAngle(ozz::math::Float3::y_axis(),
-ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, y_mPi_2.x, y_mPi_2.y, y_mPi_2.z,
y_mPi_2.w, 2e-3f);
}
{ // -z
job.target = TransformPoint(parent, -ozz::math::simd_float4::z_axis());
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion y_Pi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::y_axis(), ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, y_Pi_2.x, y_Pi_2.y, y_Pi_2.z, y_Pi_2.w,
2e-3f);
}
{ // 45 up y
job.target = TransformPoint(
parent, ozz::math::simd_float4::Load(1.f, 1.f, 0.f, 0.f));
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion z_Pi_4 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::z_axis(), ozz::math::kPi_4);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, z_Pi_4.x, z_Pi_4.y, z_Pi_4.z, z_Pi_4.w,
2e-3f);
}
{ // 45 up y, further
job.target = TransformPoint(
parent, ozz::math::simd_float4::Load(2.f, 2.f, 0.f, 0.f));
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion z_Pi_4 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::z_axis(), ozz::math::kPi_4);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, z_Pi_4.x, z_Pi_4.y, z_Pi_4.z, z_Pi_4.w,
2e-3f);
}
}
}
TEST(Forward, IKAimJob) {
ozz::animation::IKAimJob job;
ozz::math::SimdQuaternion quat;
job.joint_correction = &quat;
const ozz::math::Float4x4 joint = ozz::math::Float4x4::identity();
job.joint = &joint;
job.target = ozz::math::simd_float4::x_axis();
job.up = ozz::math::simd_float4::y_axis();
job.pole_vector = ozz::math::simd_float4::y_axis();
{ // forward x
job.forward = ozz::math::simd_float4::x_axis();
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
}
{ // forward -x
job.forward = -ozz::math::simd_float4::x_axis();
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion y_Pi = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::y_axis(), -ozz::math::kPi);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, y_Pi.x, y_Pi.y, y_Pi.z, y_Pi.w, 2e-3f);
}
{ // forward z
job.forward = ozz::math::simd_float4::z_axis();
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion y_Pi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::y_axis(), ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, y_Pi_2.x, y_Pi_2.y, y_Pi_2.z, y_Pi_2.w,
2e-3f);
}
}
TEST(Up, IKAimJob) {
ozz::animation::IKAimJob job;
ozz::math::SimdQuaternion quat;
job.joint_correction = &quat;
const ozz::math::Float4x4 joint = ozz::math::Float4x4::identity();
job.joint = &joint;
job.target = ozz::math::simd_float4::x_axis();
job.forward = ozz::math::simd_float4::x_axis();
job.up = ozz::math::simd_float4::y_axis();
job.pole_vector = ozz::math::simd_float4::y_axis();
{ // up y
job.up = ozz::math::simd_float4::y_axis();
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
}
{ // up -y
job.up = -ozz::math::simd_float4::y_axis();
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion x_Pi = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::x_axis(), ozz::math::kPi);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, x_Pi.x, x_Pi.y, x_Pi.z, x_Pi.w, 2e-3f);
}
{ // up z
job.up = ozz::math::simd_float4::z_axis();
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion x_mPi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::x_axis(), -ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, x_mPi_2.x, x_mPi_2.y, x_mPi_2.z,
x_mPi_2.w, 2e-3f);
}
{ // up 2*z
job.up =
ozz::math::simd_float4::z_axis() * ozz::math::simd_float4::Load1(2.f);
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion x_mPi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::x_axis(), -ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, x_mPi_2.x, x_mPi_2.y, x_mPi_2.z,
x_mPi_2.w, 2e-3f);
}
{ // up very small z
job.up =
ozz::math::simd_float4::z_axis() * ozz::math::simd_float4::Load1(1e-9f);
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion x_mPi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::x_axis(), -ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, x_mPi_2.x, x_mPi_2.y, x_mPi_2.z,
x_mPi_2.w, 2e-3f);
}
{ // up is zero
job.up = ozz::math::simd_float4::zero();
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
}
}
TEST(Pole, IKAimJob) {
ozz::animation::IKAimJob job;
ozz::math::SimdQuaternion quat;
job.joint_correction = &quat;
const ozz::math::Float4x4 joint = ozz::math::Float4x4::identity();
job.joint = &joint;
job.target = ozz::math::simd_float4::x_axis();
job.forward = ozz::math::simd_float4::x_axis();
job.up = ozz::math::simd_float4::y_axis();
{ // Pole y
job.pole_vector = ozz::math::simd_float4::y_axis();
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
}
{ // Pole -y
job.pole_vector = -ozz::math::simd_float4::y_axis();
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion x_Pi = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::x_axis(), ozz::math::kPi);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, x_Pi.x, x_Pi.y, x_Pi.z, x_Pi.w, 2e-3f);
}
{ // Pole z
job.pole_vector = ozz::math::simd_float4::z_axis();
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion x_Pi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::x_axis(), ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, x_Pi_2.x, x_Pi_2.y, x_Pi_2.z, x_Pi_2.w,
2e-3f);
}
{ // Pole 2*z
job.pole_vector =
ozz::math::simd_float4::z_axis() * ozz::math::simd_float4::Load1(2.f);
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion x_Pi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::x_axis(), ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, x_Pi_2.x, x_Pi_2.y, x_Pi_2.z, x_Pi_2.w,
2e-3f);
}
{ // Pole very small z
job.pole_vector =
ozz::math::simd_float4::z_axis() * ozz::math::simd_float4::Load1(1e-9f);
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion x_Pi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::x_axis(), ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, x_Pi_2.x, x_Pi_2.y, x_Pi_2.z, x_Pi_2.w,
2e-3f);
}
}
TEST(Offset, IKAimJob) {
ozz::animation::IKAimJob job;
ozz::math::SimdQuaternion quat;
job.joint_correction = &quat;
const ozz::math::Float4x4 joint = ozz::math::Float4x4::identity();
job.joint = &joint;
bool reached;
job.reached = &reached;
job.target = ozz::math::simd_float4::x_axis();
job.forward = ozz::math::simd_float4::x_axis();
job.up = ozz::math::simd_float4::y_axis();
job.pole_vector = ozz::math::simd_float4::y_axis();
{ // No offset
reached = false;
job.offset = ozz::math::simd_float4::zero();
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
EXPECT_TRUE(reached);
}
{ // Offset inside target sphere
reached = false;
job.offset =
ozz::math::simd_float4::Load(0.f, ozz::math::kSqrt2_2, 0.f, 0.f);
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion z_Pi_4 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::z_axis(), -ozz::math::kPi_4);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, z_Pi_4.x, z_Pi_4.y, z_Pi_4.z, z_Pi_4.w,
2e-3f);
EXPECT_TRUE(reached);
}
{ // Offset inside target sphere
reached = false;
job.offset = ozz::math::simd_float4::Load(.5f, .5f, 0.f, 0.f);
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion z_Pi_6 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::z_axis(), -ozz::math::kPi / 6.f);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, z_Pi_6.x, z_Pi_6.y, z_Pi_6.z, z_Pi_6.w,
2e-3f);
EXPECT_TRUE(reached);
}
{ // Offset inside target sphere
reached = false;
job.offset = ozz::math::simd_float4::Load(-.5f, .5f, 0.f, 0.f);
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion z_Pi_6 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::z_axis(), -ozz::math::kPi / 6.f);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, z_Pi_6.x, z_Pi_6.y, z_Pi_6.z, z_Pi_6.w,
2e-3f);
EXPECT_TRUE(reached);
}
{ // Offset inside target sphere
reached = false;
job.offset = ozz::math::simd_float4::Load(.5f, 0.f, .5f, 0.f);
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion y_Pi_6 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::y_axis(), ozz::math::kPi / 6.f);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, y_Pi_6.x, y_Pi_6.y, y_Pi_6.z, y_Pi_6.w,
2e-3f);
EXPECT_TRUE(reached);
}
{ // Offset on target sphere
reached = false;
job.offset = ozz::math::simd_float4::Load(0.f, 1.f, 0.f, 0.f);
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion z_Pi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::z_axis(), -ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, z_Pi_2.x, z_Pi_2.y, z_Pi_2.z, z_Pi_2.w,
2e-3f);
EXPECT_TRUE(reached);
}
{ // Offset outside of target sphere, unreachable
reached = true;
job.offset = ozz::math::simd_float4::Load(0.f, 2.f, 0.f, 0.f);
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
EXPECT_FALSE(reached);
}
const ozz::math::Float4x4 translated_joint =
ozz::math::Float4x4::Translation(ozz::math::simd_float4::y_axis());
job.joint = &translated_joint;
{ // Offset inside of target sphere, unreachable
reached = false;
job.offset = ozz::math::simd_float4::y_axis();
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion z_Pi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::z_axis(), -ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, z_Pi_2.x, z_Pi_2.y, z_Pi_2.z, z_Pi_2.w,
2e-3f);
EXPECT_TRUE(reached);
}
}
TEST(Twist, IKAimJob) {
ozz::animation::IKAimJob job;
ozz::math::SimdQuaternion quat;
job.joint_correction = &quat;
const ozz::math::Float4x4 joint = ozz::math::Float4x4::identity();
job.joint = &joint;
job.target = ozz::math::simd_float4::x_axis();
job.forward = ozz::math::simd_float4::x_axis();
job.up = ozz::math::simd_float4::y_axis();
{ // Pole y, twist 0
job.pole_vector = ozz::math::simd_float4::y_axis();
job.twist_angle = 0.f;
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
}
{ // Pole y, twist pi
job.pole_vector = ozz::math::simd_float4::y_axis();
job.twist_angle = ozz::math::kPi;
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion x_Pi = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::x_axis(), -ozz::math::kPi);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, x_Pi.x, x_Pi.y, x_Pi.z, x_Pi.w, 2e-3f);
}
{ // Pole y, twist -pi
job.pole_vector = ozz::math::simd_float4::y_axis();
job.twist_angle = -ozz::math::kPi;
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion x_mPi = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::x_axis(), -ozz::math::kPi);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, x_mPi.x, x_mPi.y, x_mPi.z, x_mPi.w,
2e-3f);
}
{ // Pole y, twist pi/2
job.pole_vector = ozz::math::simd_float4::y_axis();
job.twist_angle = ozz::math::kPi_2;
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion x_Pi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::x_axis(), ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, x_Pi_2.x, x_Pi_2.y, x_Pi_2.z, x_Pi_2.w,
2e-3f);
}
{ // Pole z, twist pi/2
job.pole_vector = ozz::math::simd_float4::z_axis();
job.twist_angle = ozz::math::kPi_2;
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion x_Pi = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::x_axis(), ozz::math::kPi);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, x_Pi.x, x_Pi.y, x_Pi.z, x_Pi.w, 2e-3f);
}
}
TEST(AlignedTargetUp, IKAimJob) {
ozz::animation::IKAimJob job;
ozz::math::SimdQuaternion quat;
job.joint_correction = &quat;
const ozz::math::Float4x4 joint = ozz::math::Float4x4::identity();
job.joint = &joint;
job.forward = ozz::math::simd_float4::x_axis();
job.pole_vector = ozz::math::simd_float4::y_axis();
{ // Not aligned
job.target = ozz::math::simd_float4::x_axis();
job.up = ozz::math::simd_float4::y_axis();
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
}
{ // Aligned y
job.target = ozz::math::simd_float4::y_axis();
job.up = ozz::math::simd_float4::y_axis();
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion z_Pi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::z_axis(), ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, z_Pi_2.x, z_Pi_2.y, z_Pi_2.z, z_Pi_2.w,
2e-3f);
}
{ // Aligned 2*y
job.target =
ozz::math::simd_float4::y_axis() * ozz::math::simd_float4::Load1(2.f);
job.up = ozz::math::simd_float4::y_axis();
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion z_Pi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::z_axis(), ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, z_Pi_2.x, z_Pi_2.y, z_Pi_2.z, z_Pi_2.w,
2e-3f);
}
{ // Aligned -2*y
job.target =
ozz::math::simd_float4::y_axis() * ozz::math::simd_float4::Load1(-2.f);
job.up = ozz::math::simd_float4::y_axis();
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion z_mPi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::z_axis(), -ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, z_mPi_2.x, z_mPi_2.y, z_mPi_2.z,
z_mPi_2.w, 2e-3f);
}
}
TEST(AlignedTargetPole, IKAimJob) {
ozz::animation::IKAimJob job;
ozz::math::SimdQuaternion quat;
job.joint_correction = &quat;
const ozz::math::Float4x4 joint = ozz::math::Float4x4::identity();
job.joint = &joint;
job.forward = ozz::math::simd_float4::x_axis();
job.up = ozz::math::simd_float4::y_axis();
{ // Not aligned
job.target = ozz::math::simd_float4::x_axis();
job.pole_vector = ozz::math::simd_float4::y_axis();
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
}
{ // Aligned y
job.target = ozz::math::simd_float4::y_axis();
job.pole_vector = ozz::math::simd_float4::y_axis();
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion z_Pi_2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::z_axis(), ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, z_Pi_2.x, z_Pi_2.y, z_Pi_2.z, z_Pi_2.w,
2e-3f);
}
}
TEST(TargetTooClose, IKAimJob) {
ozz::animation::IKAimJob job;
ozz::math::SimdQuaternion quat;
job.joint_correction = &quat;
const ozz::math::Float4x4 joint = ozz::math::Float4x4::identity();
job.joint = &joint;
job.target = ozz::math::simd_float4::zero();
job.forward = ozz::math::simd_float4::x_axis();
job.up = ozz::math::simd_float4::y_axis();
job.pole_vector = ozz::math::simd_float4::y_axis();
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
}
TEST(Weight, IKAimJob) {
ozz::animation::IKAimJob job;
ozz::math::SimdQuaternion quat;
job.joint_correction = &quat;
const ozz::math::Float4x4 joint = ozz::math::Float4x4::identity();
job.joint = &joint;
job.target = ozz::math::simd_float4::z_axis();
job.forward = ozz::math::simd_float4::x_axis();
job.up = ozz::math::simd_float4::y_axis();
job.pole_vector = ozz::math::simd_float4::y_axis();
{ // Full weight
job.weight = 1.f;
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion y_mPi2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::y_axis(), -ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, y_mPi2.x, y_mPi2.y, y_mPi2.z, y_mPi2.w,
2e-3f);
}
{ // > 1
job.weight = 2.f;
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion y_mPi2 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::y_axis(), -ozz::math::kPi_2);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, y_mPi2.x, y_mPi2.y, y_mPi2.z, y_mPi2.w,
2e-3f);
}
{ // Half weight
job.weight = .5f;
EXPECT_TRUE(job.Run());
const ozz::math::Quaternion y_mPi4 = ozz::math::Quaternion::FromAxisAngle(
ozz::math::Float3::y_axis(), -ozz::math::kPi_4);
EXPECT_SIMDQUATERNION_EQ_TOL(quat, y_mPi4.x, y_mPi4.y, y_mPi4.z, y_mPi4.w,
2e-3f);
}
{ // Zero weight
job.weight = 0.f;
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
}
{ // < 0
job.weight = -.5f;
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
}
}
TEST(ZeroScale, IKAimJob) {
ozz::animation::IKAimJob job;
ozz::math::SimdQuaternion quat;
job.joint_correction = &quat;
const ozz::math::Float4x4 joint =
ozz::math::Float4x4::Scaling(ozz::math::simd_float4::zero());
job.joint = &joint;
EXPECT_TRUE(job.Run());
EXPECT_SIMDQUATERNION_EQ_TOL(quat, 0.f, 0.f, 0.f, 1.f, 2e-3f);
}
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